로봇학회논문지 제14권 제3호(통권 제53호) (p.191-195)

외벽청소로봇(ROPE RIDE)의 등강 로봇 플랫폼을 위한 로프 모델링 및 검증

Rope Modeling and Verification for the Robotic Platform of the Wall Cleaning Robot (ROPE RIDE)
키워드 :
Building cleaning robot,rope mechanism,constitutive equation,modeling parameter

목차

Abstract
1. 서 론
2. ROPE RIDE의 구조 및 동작원리
3. 등반 로프 모델링
   3.1 로프 모델링 예비 실험
   3.2 로프의 구성 방정식 모델링
4. 모델링 파라미터 추정 실험
5. 결 론
References

초록

This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.